Fuzzy sliding-mode controllers with applications
Ha, Q.P.
Nguyen, Q.H.
Rye, D.C.
Durrant-Whyte, H.F.
Centre for Field Robotics, Sydney Univ., NSW;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2001
Volume: 48,
Issue: 1
On page(s): 38-46
ISSN: 0278-0046
References Cited: 23
CODEN: ITIED6
INSPEC Accession Number: 6860878
Digital Object Identifier: 10.1109/41.904548
Current Version Published: 2002-08-07
Abstract
This paper concerns the design of robust control systems using
sliding-mode control that incorporates a fuzzy tuning technique. The
control law superposes equivalent control, switching control, and fuzzy
control. An equivalent control law is first designed using pole
placement. Switching control is then added to guarantee that the state
reaches the sliding mode in the presence of parameter and disturbance
uncertainties. Fuzzy tuning schemes are employed to improve control
performance and to reduce chattering in the sliding mode. The practical
application of fuzzy logic is proposed here as a
computational-intelligence approach to engineering problems associated
with sliding-mode controllers. The proposed method can have a number of
industrial applications including the joint control of a hydraulically
actuated mini-excavator as presented in this paper. The control hardware
is described together with simulated and experimental results. High
performance and attenuated chatter are achieved. The results obtained
verify the validity of the proposed control approach to dynamic systems
characterized by severe uncertainties
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